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feat(obstacle_cruise)!: type specified stop deccel limit and enabling abandon to stop #1003

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Jun 7, 2024
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feat(obstacle_cruise)!: type specified stop deccel limit and enabling abandon to stop #1003

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12 changes: 12 additions & 0 deletions ...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -206,3 +206,15 @@
lpf_gain_slow_down_vel: 0.99 # low-pass filter gain for slow down velocity
lpf_gain_lat_dist: 0.999 # low-pass filter gain for lateral distance from obstacle to ego's path
lpf_gain_dist_to_slow_down: 0.7 # low-pass filter gain for distance to slow down start
stop:
type_specified_params:
labels: # For the listed types, the node try to read the following type specified values
- "default"
- "unknown"
# default: For the default type, which denotes the other types listed above, the following param is defined implicitly, and the other type-specified parameters are not defined.
# limit_min_acc: common_param.yaml/limit.min_acc
unknown:
limit_min_acc: -1.2 # overwrite the deceleration limit, in usually, common_param.yaml/limit.min_acc is referred.
sudden_object_acc_threshold: -1.1 # If a stop can be achieved by a deceleration smaller than this value, it is not considered as “sudden stop".
sudden_object_dist_threshold: 1000.0 # If a stop distance is longer than this value, it is not considered as “sudden stop".
abandon_to_stop: false # If true, the planner gives up to stop when it cannot avoid to run over while maintaining the deceleration limit.
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